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optimisation: use union in tmc2130_setup_chopper 

An idea from the MMU FW

Change in memory:
Flash: -278 bytes
SRAM: 0 bytes
This commit is contained in:
Guðni Már Gilbert 2023-05-05 23:11:30 +00:00 committed by DRracer
parent 6aff3c761b
commit 06100e366c
1 changed files with 56 additions and 42 deletions
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98
Firmware/tmc2130.cpp
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@ -116,7 +116,7 @@ uint16_t tmc2130_rd_TSTEP(uint8_t axis);
uint16_t tmc2130_rd_MSCNT(uint8_t axis);
uint32_t tmc2130_rd_MSCURACT(uint8_t axis);
void tmc2130_wr_CHOPCONF(uint8_t axis, uint8_t toff = 3, uint8_t hstrt = 4, uint8_t hend = 1, uint8_t fd3 = 0, uint8_t disfdcc = 0, uint8_t rndtf = 0, uint8_t chm = 0, uint8_t tbl = 2, uint8_t vsense = 0, uint8_t vhighfs = 0, uint8_t vhighchm = 0, uint8_t sync = 0, uint8_t mres = 0b0100, uint8_t intpol = 1, uint8_t dedge = 0, uint8_t diss2g = 0);
void tmc2130_wr_CHOPCONF(uint8_t axis, uint32_t conf);
void tmc2130_wr_PWMCONF(uint8_t axis, uint8_t pwm_ampl, uint8_t pwm_grad, uint8_t pwm_freq, uint8_t pwm_auto, uint8_t pwm_symm, uint8_t freewheel);
void tmc2130_wr_TPWMTHRS(uint8_t axis, uint32_t val32);
void tmc2130_wr_THIGH(uint8_t axis, uint32_t val32);
@ -378,54 +378,85 @@ void tmc2130_check_overtemp()
void tmc2130_setup_chopper(uint8_t axis, uint8_t mres, uint8_t current_h, uint8_t current_r)
{
uint8_t intpol = (mres != 0); // intpol to 256 only if microsteps aren't 256
union ChopConfU {
struct __attribute__((packed)) S {
uint32_t toff : 4;
uint32_t hstrt : 3;
uint32_t hend : 4;
uint32_t fd : 1;
uint32_t disfdcc : 1;
uint32_t rndtf : 1;
uint32_t chm : 1;
uint32_t tbl : 2;
uint32_t vsense : 1;
uint32_t vhighfs : 1;
uint32_t vhighchm : 1;
uint32_t sync : 4;
uint32_t mres : 4;
uint32_t intpol : 1;
uint32_t dedge : 1;
uint32_t diss2g : 1;
uint32_t reserved : 1;
} s;
uint32_t dw;
} chopconf;
static_assert(sizeof(ChopConfU::S) == 4);
static_assert(sizeof(ChopConfU) == 4);
chopconf.dw = 0; // Zero initialise
chopconf.s.intpol = (mres != 0); // intpol to 256 only if microsteps aren't 256
#ifdef TMC2130_DEDGE_STEPPING
uint8_t dedge = 1;
chopconf.s.dedge = 1;
#else
uint8_t dedge = 0;
chopconf.s.dedge = 0;
#endif
uint8_t toff = tmc2130_chopper_config[axis].toff; // toff = 3 (fchop = 27.778kHz)
uint8_t hstrt = tmc2130_chopper_config[axis].hstr; //initial 4, modified to 5
uint8_t hend = tmc2130_chopper_config[axis].hend; //original value = 1
uint8_t fd3 = 0;
uint8_t rndtf = 0; //random off time
uint8_t chm = 0; //spreadCycle
uint8_t tbl = tmc2130_chopper_config[axis].tbl; //blanking time, original value = 2
chopconf.s.toff = tmc2130_chopper_config[axis].toff; // toff = 3 (fchop = 27.778kHz)
chopconf.s.hstrt = tmc2130_chopper_config[axis].hstr; // initial 4, modified to 5
chopconf.s.hend = tmc2130_chopper_config[axis].hend; // original value = 1
chopconf.s.fd = 0;
chopconf.s.disfdcc = 0;
chopconf.s.rndtf = 0; //random off time
chopconf.s.chm = 0; //spreadCycle
chopconf.s.tbl = tmc2130_chopper_config[axis].tbl; //blanking time, original value = 2
chopconf.s.vsense = 0;
chopconf.s.vhighfs = 0;
chopconf.s.vhighchm = 0;
chopconf.s.sync = 0;
chopconf.s.mres = mres;
if (axis == E_AXIS)
{
#if defined(TMC2130_INTPOL_E) && (TMC2130_INTPOL_E == 0)
intpol = 0;
chopconf.s.intpol = 0;
#endif
#ifdef TMC2130_CNSTOFF_E
// fd = 0 (slow decay only)
hstrt = 0; //fd0..2
fd3 = 0; //fd3
hend = 0; //sine wave offset
chm = 1; // constant off time mod
chopconf.s.hstrt = 0; // fd0..2
chopconf.s.fd = 0; // fd3
chopconf.s.hend = 0; // sine wave offset
chopconf.s.chm = 0; // constant off time mod
#endif //TMC2130_CNSTOFF_E
// toff = TMC2130_TOFF_E; // toff = 3-5
// rndtf = 1;
}
#if defined(TMC2130_INTPOL_XY) && (TMC2130_INTPOL_XY == 0)
else if (axis == X_AXIS || axis == Y_AXIS) {
intpol = 0;
chopconf.s.intpol = 0;
}
#endif
#if defined(TMC2130_INTPOL_Z) && (TMC2130_INTPOL_Z == 0)
else if (axis == Z_AXIS) {
intpol = 0;
chopconf.s.intpol = 0;
}
#endif
// DBG(_n("tmc2130_setup_chopper(axis=%d, mres=%d, curh=%d, curr=%d\n"), axis, mres, current_h, current_r);
// DBG(_n(" toff=%d, hstr=%d, hend=%d, tbl=%d\n"), toff, hstrt, hend, tbl);
if (current_r <= 31)
{
tmc2130_wr_CHOPCONF(axis, toff, hstrt, hend, fd3, 0, rndtf, chm, tbl, 1, 0, 0, 0, mres, intpol, dedge, 0);
chopconf.s.vsense = 1;
tmc2130_wr_CHOPCONF(axis, chopconf.dw);
tmc2130_wr(axis, TMC2130_REG_IHOLD_IRUN, 0x000f0000 | ((current_r & 0x1f) << 8) | (current_h & 0x1f));
}
else
{
tmc2130_wr_CHOPCONF(axis, toff, hstrt, hend, fd3, 0, rndtf, chm, tbl, 0, 0, 0, 0, mres, intpol, dedge, 0);
tmc2130_wr_CHOPCONF(axis, chopconf.dw);
tmc2130_wr(axis, TMC2130_REG_IHOLD_IRUN, 0x000f0000 | (((current_r >> 1) & 0x1f) << 8) | ((current_h >> 1) & 0x1f));
}
}
@ -521,26 +552,9 @@ void tmc2130_wr_MSLUT(uint8_t axis, uint8_t i, uint32_t val)
//printf_P(PSTR("MSLUT[%d]=%08lx\n"), i, val);
}
void tmc2130_wr_CHOPCONF(uint8_t axis, uint8_t toff, uint8_t hstrt, uint8_t hend, uint8_t fd3, uint8_t disfdcc, uint8_t rndtf, uint8_t chm, uint8_t tbl, uint8_t vsense, uint8_t vhighfs, uint8_t vhighchm, uint8_t sync, uint8_t mres, uint8_t intpol, uint8_t dedge, uint8_t diss2g)
void tmc2130_wr_CHOPCONF(uint8_t axis, uint32_t conf)
{
uint32_t val = 0;
val |= (uint32_t)(toff & 15);
val |= (uint32_t)(hstrt & 7) << 4;
val |= (uint32_t)(hend & 15) << 7;
val |= (uint32_t)(fd3 & 1) << 11;
val |= (uint32_t)(disfdcc & 1) << 12;
val |= (uint32_t)(rndtf & 1) << 13;
val |= (uint32_t)(chm & 1) << 14;
val |= (uint32_t)(tbl & 3) << 15;
val |= (uint32_t)(vsense & 1) << 17;
val |= (uint32_t)(vhighfs & 1) << 18;
val |= (uint32_t)(vhighchm & 1) << 19;
val |= (uint32_t)(sync & 15) << 20;
val |= (uint32_t)(mres & 15) << 24;
val |= (uint32_t)(intpol & 1) << 28;
val |= (uint32_t)(dedge & 1) << 29;
val |= (uint32_t)(diss2g & 1) << 30;
tmc2130_wr(axis, TMC2130_REG_CHOPCONF, val);
tmc2130_wr(axis, TMC2130_REG_CHOPCONF, conf);
}
//void tmc2130_wr_PWMCONF(uint8_t axis, uint8_t PWMautoScale, uint8_t PWMfreq, uint8_t PWMgrad, uint8_t PWMampl)